CN103732515A

CN103732515A - Method and apparatus for forming layers of articles or multipacks

Info

Publication number: CN103732515A
Application number: CN201280039286.3A
Authority: CN
Inventors: 理查德·埃施尔贝克
Original assignee: Krones AG
Current assignee: Krones AG
Priority date: 2011-08-11
Filing date: 2012-07-12
Publication date: 2014-04-16
Anticipated expiration: 2032-07-12
Also published as: EP2741986A1; CN103732515B; EP2741986B1; WO2013020770A1; DE102011080812A1

Abstract

The invention relates to a method for forming palletizable layers (22, 28) of adjacent articles (16), multipacks (17) or the like at a layer-forming location using at least one program-controlled manipulator (20) for picking up one or more articles (16) or multipacks (17) at, and/or transferring them to, at least two spatially remote and/or spatially offset feeding stations and for positioning the articles (16) or multipacks (17), by rotation and/or displacement in predeterminable release positions at the layer-forming location, wherein, in dependence on a current supply situation of the articles (16) or multipacks (17) at the at least two feeding stations, the at least one manipulator (20) picks up the articles (16) or multipacks (17) selectively and without any fixed sequence, at the feeding stations and transfers them, with flexible adaptation of the respective transfer path, to the release position. The invention also relates to a corresponding apparatus for forming planar layers (22, 28) of articles (16) using a layer-forming location and at least one manipulator (20). The feeding stations are assigned sensor devices (52) which are intended for detecting the degree to which the feeding stations are occupied by conveyed articles (16) and which are coupled to a control device (54) for activating the at least one manipulator (20).

Description

Be used for forming the method and apparatus of the layer being formed by article, packing goods or multi-pack

Technical field

The present invention relates to a kind of independent right method with method aspect require 1 feature, be used for making parcel, packing goods, multi-pack or article to form stratiform and/or Palletized method.In addition the present invention relates to a kind of equipment feature, that be used for forming the flat bed being formed by adjacent article, packing goods or multi-pack with independent claims 7.

Background technology

In known packing facility and palletization facility, parcel and packing goods transport and promote or align in suitable mode on transporting rail, thereby produce the layout layer (Lagenbilder) of expectation, and it can be stacked on pallet subsequently.

Known a kind of for the treatment of the container pack equipment of bottle or can for example from EP1046598A1, these container pack should arrange with the configuration of being scheduled to by this equipment, to transport on pallet.This equipment has a plurality of parallel diagonal line guides of relying on makes parcel alignment and separated platform, and they are furnished with respectively movable clamping element.Each clamping element is mentioned a parcel and according to the expectation layout of all the other parcels or configuration this parcel that aligns.By means of moving belt, parcel is delivered to this platform in a line or multirow.The moving velocity of the clamping element on diagonal line guide is controlled by treater.This speed can change according to the Feeding speed of moving belt, thereby makes clamping element can follow different parcels and handle like this parcel, and they are occupied towards the position, accurate angle of the moving direction of load-transfer device.Each independent parcel ranks on moving belt, need respectively at least one clamping element.This clamping element only moves and is limited in it diagonal line and moves in radius.

In addition, DE60313039T2 discloses a kind of equipment and method for arranging and aliging and wrap up.The object of the method is, the parcel of synchronously carrying with the moving belt of the adjacent setting of cause.The rotating speed that for this reason first captures the parcel in the place ahead and the drive motor of measurement the first load-transfer device, the parcel in this place ahead is positioned on the first load-transfer device.Counting machine increases progressively according to the motor speed recording of the first load-transfer device, and according to Counter Value, reduces the belt speed of the first load-transfer device.In addition, capture the rotating speed of the parcel at rear and the drive motor of measurement the second load-transfer device, the parcel at this rear is positioned at second and is with.Counting machine successively decreases according to the motor speed recording of the second load-transfer device, and according to Counter Value, promotes the belt speed of the second load-transfer device.Rely on the method, should be able to meet the various pallet requirement occurring in practice.

DE10219129A1 discloses a kind of for rotating, distribute or merge the method and apparatus of so-called parcel, at least one, distributes and in track, guides these parcels and to rotate 90 layouts that turn, they derived at least one is parallel to the derivation track of this distributions track or these distribution tracks.Capture respectively in the method at least two parcels and rotate 90 sides as a group.

Therefore in the prior art, there is the packet stations of monorail guide and there is two-orbit or the packet stations of multi-track guide between be distinguishing.In order to form stackable article layer, need in principle the article of predetermined quantity.Therefore in order to promote grouping efficiency and to promote directly related with it palletization efficiency, except the pilot tape at grouping station also have other, the pilot tape for be arrangeding in parallel with it.At this, come like this, for grouping station or the programming of its controller, to make article alternately by first, bring mobile and/or rotation with at least one other guiding, and be placed on desired location.

It is also conceivable that a plurality of such packet stations of continuous layout, wherein the first packet stations is for example furnished with two pilot tapes.Therefore can pass through below raising efficiency again, for example article are located by the first packet stations or its manipulator by the first pilot tape, and other article of the second pilot tape are located through the first packet stations and by the second packet stations or its manipulator in clear passage.

Known for Palletized palletization facility and method, at least one packet stations with at least one manipulator guides parcel, packing goods or multi-pack ranks continuous, void-free or that by space, be interrupted by means of one, two or more parallel transporting rail, they rotate in one way and move by means of this manipulator or these manipulators, be that these parcels, packing goods or multi-pack ranks form can lamination and/or can Palletized layer, it is then passed to for stacking and/or cambial tray apparatus.Therefore in known transmission equipment and palletization equipment, enter, row is the guiding transmission of two-orbit for example, when wherein the guiding of in two tracks is stagnated or partly interrupts or interrupt completely, the packing goods guiding or the downstream packet of parcel and location enter quiescence, because for the grouping in continuously or with gap guiding parcel or packing goods and/or parcel or the packing goods of movement or location, grouping facility needs respectively two transporting rails, thereby intactly coverage goal is surperficial.

Therefore in known grouping facility, need to guarantee, each at least two transporting rails is covered with enough multi-pack all the time, thereby give packet stations supply items, and finally make packet stations make a plurality of article form together article layer according to the given motion track of its manipulator.In addition be known that its manipulator especially passes through definite moving process when at least two transporting rail guiding article by packet stations.Therefore by control program, inform packet stations and its manipulator be furnished with that is used to form article layer, which type of order each article in pilot tape then must locate according to given layer model with.Therefore according to given and immutable moving process, carry out control packet platform in some way, first location is by the article of the first pilot tape guiding, and then the second article bring location by the second guiding.With regard to by such machinery or these methods, obtain can palletization parcel or the loading and unloading capacity of packing goods with regard to, this is disadvantageous.When charging is disturbed or interrupt, must interrupt whole group technology.

Summary of the invention

Primary goal of the present invention is, propose a kind of parcel, packing goods, multi-pack or article of making and form stratiform and/or Palletized method and apparatus, when the help by the method and equipment had both made to guide brokenly on single in a plurality of transporting rails parcel, packing goods, multi-pack or article or also can maintain high as far as possible processing loading and unloading capacity when at least one transporting rail partially or completely interrupts.

Object by independent claims reaches this target of the present invention.From each dependent claims, draw the feature of the favourable improvement project of the present invention.In order to reach described target, the present invention proposes a kind of method, be used for forming and on space, relying at least one by programme controlled manipulator, to form the article by side by side at layer, packing goods, what multi-pack or analogue formed can Palletized layer, this manipulator is used at least two spaces away from each other and/or on the supply station being offset on space, picks up and/or transport single or multiple article, packing goods or multi-pack, and be used for by layer, form on space can be given in advance releasing position in rotation and/or mobile article, packing goods or multi-pack position.Stipulate in the method, according to the current stock situation of the article at least two supply stations, packing goods or multi-pack, at least one manipulator selectivity and there is no permanent order and pick up article, packing goods or multi-pack on supply station, and by adapting to neatly transporting rail separately or mobile route separately, they are transported to releasing position.Can stipulate alternatively in the method, the stock frequency of the article on supply station, packing goods or multi-pack and/or the classification of at least one manipulator and speed of transmission are variable.Can realize by this way especially the variable comformability that manipulator moves under different stock situations and/or stock frequency, perhaps the stock situation that these are different and/or stock frequency can differ greatly each other in a plurality of supply stations.In addition, according to the flexible program of the inventive method, can stipulate, according to the quantity differing from one another in the quantity of article, packing goods or the multi-pack prepared separately on supply station, from a plurality of perhaps how possible Move Modes, select by least one manipulator and move and/or transmission sequence, the classified order and/or sequentially mobile of article, packing goods or the multi-pack of rotating.Such manipulator control is equivalent to characteristic curve to be controlled, and wherein a plurality of input parameters can be controlled the selection that manipulator moves in a different manner, depends on characteristic curve classification separately.

If mention layer in context, form a space, therefore can refer to for example packet stations, this manipulator or a plurality of manipulator in this packet stations in layout layer mobile article, multi-pack or packing goods, to be applicable to pile superimposition palletization.

According to another flexible program regulation of the inventive method, the method is used to form the plane layer consisting of adjacent article, packing goods, multi-pack or analogue, at layer, form in space or packet stations and rely at least one manipulator come conveying articles, packing goods or multi-pack and move in a certain way and/or rotate them in a plane of motion, their are formed can be stacking and/or can Palletized layer.In addition, the adjustment of at least one manipulator is moved, in rotary moving and/or displacement is moved can be like this or be adapted in the following manner by means of on supply station or for example going to respectively by least two transporting rails and/or joining rails the article that layer forms space or packet stations, the quantity of packing goods or multi-pack temporary transient constant or along with the time changes or the quantity of fluctuation, when stock frequency is different or fluctuate, the article of particularly preparing on two or more supply stations, when the stock frequency of packing goods or multi-pack is different, select correction and/or the displacement path that adapts to form can be stacking and/or can Palletized layer.

The dynamically adapting of this at least one manipulator or a plurality of manipulators refers in context, manipulator reacting compared with minor swing, the stock frequency that particularly article on two or more supply stations, multi-pack or packing goods differed from one another to stock frequency in its moving process.Also can stipulate especially, for example, while only lacking independent article in space or in regulation article order, Manipulator Controller is reacted to the space in article order.The meaning by step control for example, can be between two or more operation modes switch machine hand, this operation mode for example produces difference continuous transporting between operation and gapped transporting.If this gap has the size that wherein lacks continuously two or more article, the conversion to the second operation mode not realizes in less gap, but can for example then stipulate.Can selectively in two or more operation modes, change, but between a plurality of operation modes, change especially, therefore finally can realize the flexible adaptation without predefined procedure.The different stage of this adaptation is more, more easily realizes the conversion of the stepless or dynamically adapting of manipulator control.But typically, the quantity differing from one another of this manipulator or a plurality of manipulators and/or transport the stock frequency of packing goods or the meaning of the dynamically adapting of the difference of packing goods, article or the multi-pack of being transported by two or more supply stations and/or transporting rail skew is, each forms the change of the displacement path experiencing in space or packet stations at layer, wherein for example can from mapping table, characteristic curve or the analogue of the central controller of storage, retrieve each significant combination of a plurality of displacement paths.When surpassing given limit, the mutual skew of article, packing goods or multi-pack that can limit each other the space between article or rely on two or more transporting rails to be carried, as a result of, by first depart from as have a mind to free burial ground for the destitute identification and predefined this manipulator or these manipulators movement rule and select optional motion track, wherein obtain the different mobile route on the whole for conveying goods, with the layout layer producing.

Eliminate in this way the known and heart defect of method therefor so far, in a plurality of transporting rails one of all these methods entered wait state while losing efficacy, until article transmission smooth operation again.In contrast, the method according to this invention has realized, even when postponing, pausing, when even in a plurality of supply stations or transporting rail is malfunctioning, also maintain substantially unchangeably sort operation and layer forms operation, because this manipulator or a plurality of manipulator dynamically adapt to when the actual situation of transporting reduces material loading and unloading capacity, also maintain if desired.

Alternatively, can rely on the method according to this invention to form in space or packet stations and rely at least one manipulator move like this and/or article for rotation, packing goods or multi-pack at layer, in the transport part section in space or packet stations downstream, form can be stacking and/or can Palletized layer maybe can push away and form described layer together being positioned at layer and forming to make them.Can article, packing goods or multi-pack be transported to the situation of transporting on layer transporting rail that forms space or packet stations according to one or more, the requirement based on the actual loading and unloading capacity providing or possibility infinitely reduce or extend assortment speed.

When supply station or transporting rail complete when malfunctioning; for example, due to shutdown or due to stock on it and/or the article of carrying, packing goods or multi-pack deficiency; the method can realize balance in the following manner; adapt to like this control of this manipulator or these manipulators; thereby it only captures article, packing goods or the multi-pack mobile in order to form layer from the region of the transporting rail that transports unchangeably or get ready the goods or supply station, and at layer, form on the whole surface of space or packet stations and distribute in a desired manner.That the method is adapted in this way extremely is neatly gapped on transporting rail, conveying that pause and/or that stop or be adapted to stock gapped on supply station, that pause and/or that stop.Once there is gap, the article that layer forms in space or packet stations pass through according to the adaptation of manipulator control of the present invention and otherwise grouping, thus the supply station of substantially tracing back to the transporting rail of other constant extensions or getting ready the goods unchangeably.Preferably, the adaptation of this manipulator control dynamically and so rapidly realizes, and makes to retain substantially insusceptibly remaining supply station or transporting rail and can continue operation with constant transportation speed especially.Manipulator must come mobile article or packing goods by other paths if desired in the operation adapting to like this, thereby can access and layout layer the same when the interference-free operation at all supply tracks or station.

In the operation mode adapting to, wherein for example in a plurality of transporting rails or supply station continues to promote continuous and very close to each otherly or prepare article, another in transporting rail or supply station carries out gapped transmission or gapped stock, and article layer can form in space or packet stations and for example in the mode adapting to, divides into groups and combine at layer.While there is gap when transporting or article are got ready the goods, may for example lack article definite, first virtual numbering and lack every other follow-up article.In this case, can transport undisturbed transporting rail or the unchanged supply station of getting ready the goods on rearrange Item Number, thereby the numbering that the transporting rail that can transport other or other stock supply station lacks is distributed and suitably classifies.This rearrange or resequence be only interpreted as virtual because not numbering is assigned to article with physics mode, but virtually, so as the layer that is packet stations controller by least one manipulator to form and dynamically adaptability classifying rules is provided.

Transmission quantity for Adaptive change, be adapted to layer, form respectively by means of at least two transporting rails and/or joining rails or supply station that space or packet stations are transported or in the quantity differing from one another of article, packing goods or the multi-pack quantity of that preparation or the stock frequency differing from one another, from many or a plurality of possible Move Modes, select by least one manipulator and move and/or classified order and/or the mobile order of article, packing goods or the multi-pack of rotating.Move Mode or control step for manipulator can for example be stored in characteristic curve, and retrieve according to the Occupation efficiency of transporting rail, and select according to convenience (mean processing speed and keep lowest possible delay).

Alternatively, the method according to this invention can be stipulated stock speed variable on the variable transportation speed of transporting rail or supply station and/or stock frequency.When therefore in transporting rail or supply station pauses or stops, impregnable track or the corresponding speed of standing promote and can guarantee that sufficiently high packet throughput and layer form loading and unloading capacity separately, because reduced the overall quantity of article, packing goods or the multi-pack of transporting, so manipulator will rotate within definite time period and/or the packing goods that will move is less.For this reason, the remarkable lifting with the speed of the specified transporting rail that takies operation is significant.

Another flexible program regulation of the method according to this invention, be adapted to stock and/or by means of at least two transporting rails and/or joining rails be transported to respectively layer form space or packet stations article, packing goods or multi-pack quantity temporary transient constant or along with the time is variable or the quantity of fluctuation, the stock speed of supply station or stock frequency or at least one transporting rail and/or at least one be arranged at that upstream packing is stood and packet stations between the transportation speed of joining rails and/or the classification speed of at least one manipulator can reduce or promote.In the method deformation program, supply station or transporting rail can be for example for the parts at packing station or through this packing station.Such packing station generally includes two or more packing heads, and multi-pack is carried out bale packing by this packing head, thereby a plurality of independent article are assembled into the multi-pack that can transmit.This multi-pack is combined into palletization layer and palletization layeredly by manipulator.Alternatively, packing stand erectly connect be connected with grouped element or with its interlocking, centre is connected with at least two parallel joining rails if desired.This joining rails can have suitable length, and this length is favourable and necessary for setting up and arranging of independent machine part.The obstruction section forming between space or packet stations at packing station and layer is dispensable because at packing station or upstream facility part serious when disturbed the integral body at palletization station transport and process and can stop.Therefore stop up section especially unnecessary, because there is not constricted channel or analogue in the place ahead, palletization station, first this constricted channel or analogue must empty when disturbed in quiescence or machine.Therefore packing station can with advantageous manner directly with the interlocking of palletization station, if desired also can with very short or in its length the joining rails of shortization interlock.

By described method flexible program, when irregular guiding multi-pack, can in palletization station, maintain the loading and unloading capacity in sufficiently high transmission section.When irregular guiding multi-pack or at least one transporting rail partially or completely interrupt on one in a plurality of transporting rails or supply station equally, in packing inside, station or outside, proceed palletization and maintain sufficiently high processing loading and unloading capacity and throughput of transmissions.Therefore in dynamically adjusting, pack and be positioned at the packing station of palletization upstream equally, thereby while stopping in head one of packing is disturbed and/or packs in track one of head or a plurality of packing head, the palletization of the multi-pack that can remain in operation with the processing speed reducing.

The significant especially additional project of the method according to this invention stipulated, for identifying the suitable sensing technology of the Occupation efficiency of two or more parallel to each other or the transporting rail of non-parallel setting or the Occupation efficiency of joining rails or supply stations.This sensing technology can comprise grating, image collecting device and apparatus for evaluating or analogue especially.In addition alternatively, the sensor device of machinery and/or inductance operation can be used, thereby the actual Occupation efficiency of transporting rail or supply station can be measured at any time and assess.Have a mind to free burial ground for the destitute, each existing transporting rail or supply station are at least furnished with for identifying the sensing unit of its Occupation efficiency, and its assessment signal is for controlling manipulator and controlling and/or functional status for different the moving that makes its Occupation efficiency dynamically adapt to transporting rail or supply station.This sensing technology can be had a mind to free burial ground for the destitute and be supplemented as follows, measures at any time the operability of the packing head at optional packing station.

Layer forms space or packet stations can at least be furnished with a manipulator.Alternatively, layer formation space or packet stations are furnished with the manipulator of two or more continuous layouts.In the context of the invention, following each device is used as to manipulator, this device can and be suitable for forming article, packing goods and/or multi-pack in space or packet stations and moving and/or around its vertical axis revolving in desired orientation be delivered to layer by transporting rail, thereby produces the layout layer of expecting.Therefore can for example use clamping limb to be used as manipulator, this clamping limb can move movably by means of door humanoid robot above plane of motion or layer form space or packet stations, rotation and lifting, and wherein this clamping limb can be opened or be closed simultaneously.This manipulator also can for example form so-called radial type robot.In the flexible program of with good grounds equipment of the present invention, can consider that in principle all that imagine and processing equipment that can use are in practice as manipulator, for example door humanoid robot, radial type robot or there is the other robot of multi-axis controller.

Then, the layout layer of manufacturing by manipulator can pass through the mutual mobile compacting of side direction if desired, thereby for example reduces to be pushed into together the gap between article, packing goods and/or the multi-pack of layout layer of expectation.This process can for example be implemented in the region of so-called layout layer platform, and this layout layer platform makes its manipulator of being furnished be arranged at packet stations rear.This layout layer platform (if existence) can be provided with receiving device or palletization device in the wings, and it can make these layers stacking on pallet.This receiving device or palletization device can for example comprise so-called louver head, louver clamping head or analogue, it receives the layer that promotes together and with article, packing goods and/or multi-pack, is stacked to the layer of first front transfer respectively successively upper, until be for example stacked on each other the height that article, packing goods and/or multi-pack on pallet reaches previous definition.

According to another particularly advantageous flexible program of the inventive method, can realize, the mode with expectation combines the layout layer of the classification with different article, packing goods and/or multi-pack changeably respectively.Therefore can for example stop up without interruption or not in the region of in transporting rail, the different classification that can be supplied by a plurality of transporting rails is completely gathered into independent layer with combinations different and/or dynamically changeable respectively.

In addition for reaching above-mentioned target, the present invention also comprises and being used to form by adjacent article, packing goods, the equipment of the layer that multi-pack or analogue form, it has at least two spaces away from each other and/or the supply station being offset on space, transporting rail, joining rails or analogue, rely at least one by programme controlled manipulator, to pick up and/or transport the single or multiple article of supply station or transporting rail, packing goods or multi-pack, and for rotating and/or mobile article by forming releasing position given in advance on space at layer, packing goods or multi-pack are located.The programming controller of manipulator can come optionally and there is no permanent order and control it to move according to the current stock situation of article, packing goods or multi-pack at least two supply stations.Alternatively, at least two supply stations can be furnished with respectively for identifying the sensor device of the Occupation efficiency of its preparation or the article that transport, packing goods or multi-pack, itself and control setup are coupled, this control setup is dynamically adapted to temporary transient constant or along with the time is variable or the quantity of fluctuation for the control that makes at least one manipulator, be particularly adapted to the quantity differing from one another of article, packing goods or the multi-pack prepared at least two transporting rails.In addition, layer forms at least one manipulator of space or packet stations and is furnished with programming controller, and this programming controller is for selecting for rotating and/or the suitable or optimum Move Mode of mobile article, packing goods or multi-pack from a plurality of available Move Modes according to the quantity differing from one another of article, packing goods or the multi-pack prepared.

For form a flexible program of this equipment of flat bed from adjacent article, packing goods, multi-pack or analogue, can comprise that at least two for being transported to article, packing goods or multi-pack by least one manipulator two transporting rails of packet stations, this manipulator is for moving article, packing goods or multi-pack and/or spin out in plane of motion, thereby prepares them to be transported to stacking and/or can Palletized layer.At least two transporting rails can preferably be furnished with respectively for identifying the sensing device of the Occupation efficiency of its article that transport, packing goods or multi-pack, the coupling of this sensing device and control setup, this control setup is for dynamically or being hierarchically adapted to be transported at least two transporting rails article, packing goods or multi-pack temporary transient constant of packet stations or along with the quantity that the time is variable or fluctuate controls at least one manipulator.In addition, can arrange at the packet stations rear with at least one manipulator one for making the layer palletization with article, packing goods and/or multi-pack of previously formation and/or stacking transport part section.

At least one manipulator of packet stations can for example be furnished with programming controller, and this programming controller is for selecting for rotating and/or the suitable or optimum Move Mode of mobile article, packing goods or multi-pack from a plurality of available Move Modes according to the quantity differing from one another of article, packing goods or the multi-pack of being transported by least two transporting rails.

Alternatively the packing station that at least one has one or more packing heads can be set in packet stations the place ahead, it is directly coupled with packet stations interlocking or with the multi-pack that the two or more joining rails by for transmitting are packed by means of packing station.The corresponding flexible program in transmission section comprises packing station, and it is arranged on packet stations the place ahead.In being arranged at the packing station in packet stations the place ahead, the bale packing assembling that the article that transport rely on respectively a plurality of packing heads to form with multi-pack, thereby at carriage direction, no longer carry the article independent with palletization in other transmission paths, but carry respectively and the multi-pack of a plurality of article of palletization, it is tightened by means of strap.Packing station is alternatively directly with packet stations connection or by parallel joining rails and its coupling.Joining rails can have an appropriate length, and this length is favourable and necessary for structure and the configuration of independent mechanics.Also they can be cancelled if desired.Obstruction section between packing station and packet stations is dispensable, because when serious when disturbed, and can be in packing be stood or be arranged on and in the facility part in the place ahead, stop integral body and transport the processing with palletization station.Therefore do not need to stop up especially section, because there is not constricted channel or analogue in the place ahead, palletization station, first it must empty in mechanical quiescence or when disturbed.Therefore packing station can directly interlock with palletization station in an advantageous manner, also have if desired very short or in its length minimized joining rails.The flexible program relating to according to present device, can work as while guiding multi-pack erratically in palletization station and maintain and transmit the sufficiently high loading and unloading capacity in section.

While guiding multi-pack erratically equally on one in a plurality of transporting rails or when at least one transporting rail partially or completely interrupts, in packing inside, station or outside, maintain palletization and sufficiently high processing loading and unloading capacity and throughput of transmissions.Pack in this way in packing station in dynamic adjustments, thereby when packing head is disturbed and/or when a packing head or the interruption of a plurality of packing head, the palletization of multi-pack can remain in operation with the processing speed reducing in one in track.

The programming controller of at least one manipulator of packet stations can for example with for controlling and/or monitor the control setup of packing head be coupled, be used for adapting to and/or select for rotating and/or the Move Mode of mobile article, packing goods or multi-pack, make whereby manipulator control be adapted to very fast the variable shipping conditions of the article, packing goods etc. of packet stations to be transported to, thereby can adapt to displacement path and/or in rotary moving.

If relate to transporting rail in the context of the invention, refer in principle all flexible programs that comprised by conveyer or feedway or supply station, for example also can refer to the conveyer through packing station, this packing station is coupled by short connecting bridge or joining rails and packet stations.Alternatively, be arranged on layer and form space or packet stations or a plurality of layers for the treatment of bench that forms space or a plurality of packet stations the place ahead, example is packed as mentioned to stand and also can directly be formed space or packet stations interlocking with layer.All these are considered to transporting rail or supply station as the conveyer of a part that is arranged on the processing equipment in the place ahead in meaning of the present invention.

In a word, an importance of the present invention is can by two or more transporting rails or supply station, be arranged in a different manner respectively at the given layout layer that relies on manipulator to form at layer the given article position, packing goods position or the multi-pack position that produce in space or packet stations.By suitable sensor, identify, the quantity of the packing goods that the goods of at least one supply in transporting rail is prepared on supply station or article or multi-pack and the difference of specified value, and the quantity particularly identifying with respect to the goods preparation of being transported by other transporting rails or supply station declines.After identifying this difference, rotation and mobile wait arrange packing goods time change given mobile route.When position remains unchanged endways, even if be not that all mobile routes all can change conventionally, but at least several meetings in these mobile routes change.

Accompanying drawing explanation

Below further describe with reference to the accompanying drawings embodiments of the invention and its advantage.Each element size each other not always corresponding to actual size ratio, illustrates because simplified some shapes and amplified other shapes with respect to other elements in the accompanying drawings better.

Fig. 1 illustrates the schematic diagram of a simple variant scheme in transmission section, has wherein formed the layer consisting of the article that transmit continuously.

Layer when Fig. 2 a is illustrated in interference-free article transmission forms schematic diagram.

When Fig. 2 b is illustrated according to the interference-free article transmission of Fig. 2 a for the mobile route of article.

Layer when Fig. 2 c is illustrated in the article transmission of interrupting at least partly in two transporting rails forms schematic diagram.

Fig. 2 d is illustrated in article when transmission of partly interrupting according to Fig. 2 c for the mobile route of article.

Layer when Fig. 2 e is illustrated at least gapped article transmission in two transporting rails forms schematic diagram.

When Fig. 2 f is illustrated according to the transmission of the gapped article of Fig. 2 e for the mobile route of article.

Layer when Fig. 2 g is illustrated in the article transmission of interrupting completely in two transporting rails forms schematic diagram.

Fig. 2 h is illustrated in article when transmission of interrupting completely according to Fig. 2 g for the mobile route of article.

Fig. 3 illustrates another flexible program in the transmission section that is used to form the layer consisting of article, and these article are transported to packet stations in two parallel transporting rails.

Fig. 4 illustrates the transmission path according to Fig. 3, wherein in of transporting rail, occurs the irregular gap between continuous each other article.

Fig. 5 illustrates the transmission path according to Fig. 3, and wherein article transmit in transporting rail and interrupt.

Fig. 6 illustrates another flexible program in transmission section that is used to form the layer consisting of article, these they be derived from packing station and be transported to packet stations in parallel transporting rail.

The specific embodiment

For the present invention's element identical or same function, identical Reference numeral will be used respectively in Fig. 1 to 6.In addition, for the sake of clarity, the necessary Reference numeral of explanation for each figure is only shown in each accompanying drawing.The embodiment illustrating only illustrates example, for example, can be equipped with according to device of the present invention or the method according to this invention, and not be enclosed restriction.

A simple variant scheme in the transmission section 11 at palletization station 10 has been shown in the schematic top plan view of Fig. 1, in this palletization station, should have formed by the multirow layer that the article of transmission form continuously.Transmission section 11 has two

parallel transmission tracks

12 and 14 that are conventionally described as

supply station

13 or 15 in the illustrated embodiment, under normal condition, on this track, transport respectively and transmit consecutive objects 16 ranks to the packet stations 18 that is conventionally described as layer formation space 19, this packet stations has the manipulator 20 that is used to form the loose layer 22 consisting of article 16.Top or the first supply station 13 are understood as to a space or area of space, and in this space or area of space, manipulator 20 can capture and move and/or be rotated in the article 16 of that preparation.In the illustrated embodiment, top or the first supply station 13 consist of top transporting rail 12 or are supplied with article 16.Bottom or the second supply station 15 are understood as to a space or area of space, and in this space or area of space, manipulator 20 can capture and move and/or be rotated in the article 16 of that preparation.In the illustrated embodiment, bottom or the second supply station 15 consist of bottom transporting rail 14 or are supplied with article 16.Conventionally by a region description, be releasing position 21, in this region, manipulator 20 discharges to produce given layout layer 22 by article 16 in the mode of expecting.

Rely on unconsolidated formation 22 that movement and/or the rotation of manipulator 20 by article 16 form after it implements combination by means of manipulator 20 and after passing through releasing position 21, first on carriage direction 32, towards stop assembly 29, move, this stop assembly for example can form by vertical liftable baffle plate, this baffle plate can upwards rise over the plane in packet stations 18 or layer formation space 19, be used for making layer 22 can promote together and can again decline downwards, so that continue the layer 22 that transmission seamlessly promotes together on carriage direction 32.Then, this layer 22 is transported to layer to the right by means of suitable horizontal conveyance device 24 and forms platform 26, on this layer of formation platform, by the article 16 of unconsolidated formation 22 are promoted together transverse to carriage direction 32, forms the closed layer 28 consisting of article 16.For the described target promoting together, layer forms platform 26 and has suitable thrust unit 30 in transmission 11 both sides, section, and it can be sent towards the carriage direction 32 of

layer

22 or 28 in vertical direction, thereby can promote each other as required the article 16 of unconsolidated formation 22.

Manipulator 20 refers to various devices in the context of the present invention, it can and be suitable for making by transporting

rail

12 and 14 or moved up and/or rotate around its vertical axes in the side of expectation by

supply station

13 and 15 article 16, packing goods and/or the multi-pack that form transmission on space 19 at packet stations 18 or layer, thereby produces the layout layer 22 of expecting.This layout layer 22 promotes to compress towards stop assembly 29 and by the side by means of thrust unit 30 by promoting as mentioned above subsequently each other, thereby the gap that for example makes to be pushed to together between article 16, packing goods and/or the multi-pack of closed layer layout 28 of expectation reduces.This process for example can be implemented in layer forms the region of platform 26, and this layer forms the manipulator 20 that platform is furnished with by means of it and be arranged at packet stations 18 rears.

Layer form on platform 26, form can Palletized layer 28 after, closed layer 28 is transported and/or transmitting device 34 is placed on pallet 36 as whole layer by means of suitable, overlays on the palletization layer 38 there having existed if desired by heap.Once the layer 38 of the maximum quantity limiting is placed on pallet 36 stackedly, they is transported to realize other packing and/or delivery or storage.As required can layer form platform 26 and transport and/or transmitting device 34 between pay-off 31 is set, for example folding delivery sheet or analogue, it can assist to go to transporting of transmitting device.

The present invention now should realize, and when guiding article 16 brokenly, as following, by according to Fig. 2 to 6 explanation, maintains the loading and unloading capacity in sufficiently high transmission section 11 in palletization station 10.If conventionally mention article 16 in context, it can be all types of packings, parcel, packing goods, multi-pack or analogue in principle, for example combine the multi-pack of drinking container, its packing is optional, is wrapped with thermal shrinkage type film and/or bands together by means of strap.Similarly, at a plurality of transporting rails 12, while guiding brokenly parcel, packing goods, multi-pack or article 16 on one in 14, or when at least one transporting

rail

12 or 14 partially or completely interrupts, also can proceed palletization and maintain sufficiently high processing loading and unloading capacity and throughput of transmissions.

If two

parallel transporting rails

12 and 14 are only shown in the illustrated embodiment, it is not considered as restriction equally.In principle, can there be equally a plurality of transporting rails to lead in packet stations 18, if desired also for example, with nonparallel structure, star.Alternatively, in transmission section 11, also a plurality of packet stations 18 and/or a plurality of manipulator 20 can be set continuously, at Fig. 2 to 4, by two paired structures respectively with the packet stations 18 of manipulator 20, illustrate.Conventionally, be equally applicable to

supply station

13 and 15, article 16 are transported on manipulator 20 or by it and hold and form on space 19 and in suitable mode, rotate and/or movement at layer on this supply station, until their 21 releases in releasing position form on platform 22 thereby be transported to layer.

In addition it should be pointed out that the article that represent with numeral 16 also can be interpreted as that multi-pack 17(is referring to Fig. 6 alternatively in Fig. 1 to 5) or be generally understood as packing goods.Therefore each article 16 can be multi-pack 17 alternatively.In addition, manipulator 20 is caught more than one article 16 or more than one multi-pack 17 alternatively in rotation or in moving, and wherein for example it is caught simultaneously, rotates and/or mobile two article 16.

If two transporting

rails

12 and 14 are transported to packet stations 18 by unbroken ranks of article 16 respectively, or if two

supply stations

13 and 15 have prepared unbroken ranks of article 16, the process while forming layer in layer forms the region of space 19 or packet stations 18 has been described in the schematic diagram in Fig. 2 a and 2b.In Fig. 2 a, how exemplarily explanation, form unconsolidated formation 22 by nine article 16 altogether of numbering one by one by numeral 1 to 9.It is closed and can Palletized layer 38 that unconsolidated formation 22 is then pushed to together, as shown in Figure 1 in it.Therefore the first transporting rail 12 then transports the article 16 with

numeral

1,3,5,7 and 9, and the second transporting rail 14 then transports the article 16 with

numeral

2,4,6 and 8.After thering are numeral 9 article 16, article 2, be then that

article

4,6 and 8 join on the first transporting rail 12.After thering are numeral 8 article 16, article 1, be then that

article

3,5,7 and 9 join on the second transporting rail 14.

In the routine operation pattern shown in Fig. 2 a, wherein two transporting

rails

12 and 14 transport (equally referring to Fig. 3) continuously and seamlessly, unconsolidated formation 22 for example can divide into groups in the manner illustrated and combine in packet stations 18, thereby there are

numeral

1,5 and 9 article 16, be in turn arranged in the ranks of topmost, and the article 16 with

numeral

3,6 and 7 can in turn be arranged in the ranks at middle part.Correspondingly, having

numeral

2,4 and 8 article 16 can in turn be arranged on the ranks of bottom.Then, there are numeral 1 to 9 article 16 and be pushed into together closed layer 28 with this constructed in groups, and by means of transporting and/or transmitting device 34 is transported to palletization layer 28, and can not change layout layer.

The schematic view illustrating of Fig. 2 b the moving movement of manipulator, this is essential, for obtain 3 * 3 structure of unconsolidated formation 22 from be transported to article 16 in packet stations 18 at two parallel transporting rails 12 and 14.First the article with numeral 3 that for this reason transport in top transporting rail 12 must be moved downward to the middle part of layout layer 22 about mobile route s3, another article afterwards with numeral 6 must be moved upward to from lower tracks 14 middle part of layout layer 22 about mobile route s6.The article finally with numeral 7 are moved downward to middle part from upper track 12 about mobile route s7 again.Arrow 32 explanation, during moving movement s3, the s6 and s7 of manipulator, transporting

rail

12 and 14 transport and continue unchangeably operation.

In the adaptation operation mode shown in Fig. 2 c, its middle and upper part transporting rail 12 is conveying articles 16 continuously and seamlessly further, lower tracks 14 with a gap transporting articles 16(equally referring to Fig. 4), unconsolidated formation 22 can be in packet stations 18 for example mode (referring to Fig. 2 d) grouping and the combination to adapt to.Space during the transporting of article 16 occurs can for example have the article of numeral 6 in bottom transporting rail 14 after, thereby lacks article and the every other follow-up article with digital 8.As illustrated the same of the article order in the first transporting rail 12, rearrange article numeral, thereby after numeral 8 is assigned to top transporting rail 12 and comes the article 16 with digital 7.Only understanding virtually this rearranges or sorts, because the numeral illustrating 1 to 9 is not assigned to article 16 with physics mode, but virtually, so that the dynamic adaptability that principle of classification while forming of explanation layer and the packet stations that realizes by least one manipulator are controlled.

Therefore as mentioned, as long as the interference in the second transporting rail 14 is not eliminated, in top transporting rail 12, according to the virtual class of article order, transport continuously and there are the article 16 of

numeral

1,3,5,7 and 9 and transport if desired afterwards

continuous ranks

1,2,3 etc.On this second transporting rail 14, before occurring gap and interruption or interrupting article order, transport first continuously the article 16 with

numeral

2,4 and 6.Conventionally lack the article with numeral 8 of following in numeral after 6, thus its in upper track 12, push follow after the article with digital 7, there are digital 9 article.It rearranges backward about a position in the manner illustrated, and correspondingly follows the article with numeral 8.

The schematic view illustrating of Fig. 2 d the moving movement of manipulator, this is essential, for from being transported at two parallel transporting

rails

12 and 14 3 * 3 the structure that article 16 in packet stations 18 obtain unconsolidated formation 22 according to Fig. 2 c, although bottom transporting rail 14 is with the conveying articles 16 with a gap of the mode shown in Fig. 2 c.First the article with numeral 3 that for this reason transport in top transporting rail 12 must be moved downward to the middle part of layout layer 22 about mobile route s3, another article afterwards with numeral 6 must be moved upward to from lower tracks 14 middle part of layout layer 22 about mobile route s6.In addition, there are numeral 7 article and again from upper track 12, about mobile route s7, be moved downward to middle part.Finally have numeral 9 article from top transporting rail 12 about relatively long whole the moving down of mobile route s9, thereby can compensate the gap occurring in bottom transporting rail 14.Arrow 32 explanation, during moving movement s3, s6, s7 and the s9 of manipulator, transporting

rail

12 and 14 transport and continue unchangeably operation.

Form layer in packet stations 18 on carriage direction 32 after, unconsolidated formation 22 for example can be according to Fig. 2 a with this combination of shapes and grouping, there are numeral 1,5 and 9 article 16 and be arranged in continuously the ranks of bottom, and the article 16 with numeral 3,6 and 8 can be arranged in the ranks at middle part continuously.The article 16 with numeral 2,4 and 9 can correspondingly be arranged in the ranks of bottom continuously.Because the article with numeral 1 to 7 that transport regularly can, as being embedded into by this way as shown in Fig. 2 c in the layout layer of unconsolidated formation 22, therefore not change.But there are numeral 8 article, can first be pushed in the ranks of top if desired because manipulator control for good and all the article of response change transport.Because gap in the article flow of the second transporting rail 14 may can be very short, so this controller can distribute to the article of following behind gap by virtual digit 9, and is classified in the bottom ranks of layout layer (referring to Fig. 2 d).But owing to thering are the article of numeral 9, also must in top transporting rail 12, take out, so mechanical arm forced is for its grouping, through longer path s9, returns, thereby fills up the space finally lacking in the bottom ranks that form at layer.

In the adaptation operation mode shown in Fig. 2 e, its middle and upper part transporting rail 12 is conveying articles 16 continuously and seamlessly further, and lower tracks 14 illustrates the gapped transmission of article 16 (equally referring to Fig. 4), unconsolidated formation 22 can for example mode (referring to Fig. 2 f) grouping and the combination to adapt in packet stations 18.In the transporting of article 16, space occurs can for example have the article of numeral 4 in bottom transporting rail 14 after, thereby lacks article and the every other follow-up article with numeral 6, and the article of following can be with digital 9 expressions in the space after.Sequentially showing as the article in the first transporting rail 12, rearrange article numeral, thereby numeral 6 is assigned to top transporting rail 12 and is discharged to after having the article 16 of numeral 5.As long as the interference in the second transporting rail 14 is not eliminated, in top transporting rail 12, according to the virtual class of article order, transport continuously the article 16 with numeral 1,3,5,6,7 and 8, and transport if desired afterwards continuous ranks 1,2,4 etc.On this second transporting rail 14, before occurring gap and interruption or interrupting article order, transport first continuously and there are the article 16 of numeral 2 and 4 and after longer space, transport numeral 9.Conventionally lack the article with numeral 6 of following in numeral after 4, thereby it push digital 5 the article of having of following after the article with digital 7 in upper track 12.It rearranges backward about a position in the manner illustrated, and correspondingly follows the article with numeral 6.

The schematic view illustrating of Fig. 2 f the moving movement of manipulator, this is essential, for from being transported at two parallel transporting

rails

12 and 14 3 * 3 the structure that article 16 in packet stations 18 obtain unconsolidated formation 22 according to Fig. 2 f, although bottom transporting rail 14 is with the conveying articles 16 with a gap of the mode shown in Fig. 2 e.First the article with numeral 3 that for this reason transport in top transporting rail 12 must be moved downward to the middle part of layout layer 22 about mobile route s3, another article afterwards with numeral 6 must be moved downward to equally from upper track 12 middle part of layout layer 22 about mobile route s6.In addition, the article with numeral 7 are moved downward to middle part from upper track 12 about mobile route s7 again, can access afterwards the layout layer 22 of expectation.

In the adaptation operation mode shown in Fig. 2 g, its middle and upper part transporting rail 12 is conveying articles 16 continuously and seamlessly further, and lower tracks 14 stops and conveying articles (referring to Fig. 5) no longer, unconsolidated formation 22 can for example mode (referring to Fig. 2 h) grouping and the combination to adapt in packet stations 18.The pressure that stops that in bottom transporting rail 14, article 16 transport realizes the classification in top transporting rail 12.Showing as the article order in the first transporting rail 12, rearrange article numeral, thereby transport the consecutive order of the article 16 with numeral 1 to 9 at that.As long as the interference in the second transporting rail 14 is not eliminated, in top transporting rail 12, according to the virtual class of article order, transport continuously the article 16 with

numeral

1,2,3,4,5,6,7,8 and 9.

The schematic view illustrating of Fig. 2 h the moving movement of manipulator, this is essential, for from being transported at two parallel transporting

rails

12 and 14 3 * 3 the structure that article 16 in packet stations 18 obtain unconsolidated formation 22 according to Fig. 2 g.First the article with numeral 3 that for this reason transport in top transporting rail 12 must be moved downward to the middle part of layout layer 22 about mobile route s3, another article afterwards with numeral 5 must be moved downward to from upper track 12 middle part of layout layer 22 about mobile route s5 integral body.Finally, the article with numeral 9 are moved downward to middle part from upper track 12 about mobile route s9 again, can access whereby the layout layer 22 of expectation.

Then, there are numeral 1 to 9 article 16 and be pushed into together closed layer 28 with this constructed in groups, and by means of transporting and/or transmitting device 34 is transported to palletization layer 28, and can not change layout layer.

In addition, Fig. 3 to 6 illustrated in the flow process that is used to form the method for the flat layer 28 consisting of adjacent article 16, packing goods, multi-pack 17 or analogue according to the present invention, and wherein article 16, packing goods or multi-pack 17 rely on two manipulators 20 that arrange to be continuously transported to layer to form space 19 or a two-part packet stations 18 on two (or more if desired) transporting rails 12 and 14.Article 16 move in one way in plane of motion 40 at that and/or rotate, and it are formed stackable and/or can Palletized layer, have the first relatively loose layer 22 of the article 16 of each interval.The adjustment of manipulator, rotation and/or moving movement can be classification or can be to be also dynamically adapted to be transported to respectively article 16 temporary transient constant of packet stations 18 or along with the time is variable or the quantity of fluctuation by transporting rail 12 and 14.Therefore the schematic view illustrating of Fig. 3 in the region of bottom the second transporting rail 14 the less gap 42 between continuous article 16, and article on the first transporting rail 12 of top substantially continuously, with small spacing, flow each other.Dynamically adapting can refer in context, if for example lack independent article 16 in gap 42, manipulator 20 rings the minim gap 42 in article order is reacted in its moving process.Step control for example can refer to, manipulator can switch between two a plurality of operation modes, and these operation modes are for example distinguished transporting continuously between operation and gapped transporting.To the second operation mode to switch in this must be not yet in small gap 42, to realize, but can for example then make gap 42 there is a size, in this size, lack continuously two or more article.

Adaptation by manipulator 20 is controlled, a plurality of article 16 form in space 19 or packet stations 18 and from the upper area of being supplied with by the first transporting rail 12, move down at least in short time at layer, thereby easily compensate for clearance 42, and needn't reduce in considerable mode the transportation speed in transmission section 11.Therefore eliminated the following defect of known method, when in a plurality of transporting rails stops up or interrupts, must enter wait state, until article transmission smooth operation again.In contrast, the method according to this invention has realized, and when a delay in a plurality of transporting

rails

12,14, pause even stop, also by means of the dynamic control of manipulator 20 and the comformability speed of transmission section 11 and/or transporting

rail

12 and 14, controls to maintain sort operation and layer formation operation.While needing, must in the actual manipulator that transports situation, reduce loading and unloading capacity based on self dynamically adapting.

But mention to the property guarded against in this context, the basis of whole Manipulator Controller is, the article 16 that are transported in packet stations 18 by transporting

rail

12 and 14 afterwards move to one or the other direction in plane of motion 40, and can not make the article 16 that embedded in layout layer be moved subsequently.By other article 16, fill also incomplete layout layer, until it is complete, the manipulator control that the article 16 that wherein embed can rely on flexible adaptation is by two transporting

rails

12 and 14 or temporarily mainly by a transporting rail or even temporarily or through longer time length only provided by a transporting rail.

In Fig. 3 to 6, in Fig. 1, be typically expressed as and transport and/or the palletization device 44 of transmitting device 34 is furnished with described louver head 46 or analogue, it receives the layer 28 that promotes together and stacking with article 16, packing goods and/or multi-pack continuously on the layer 38 transporting before respectively, until on pallet 36 each other stacking article 16 reach before the height of definition.Transporting and/or transmitting device 34 or louver head 46 and layer form between platform 26 and can be provided with pay-off 31 if desired, for example folding delivery sheet or analogue, it has simplified layer 28 transporting to louver head 46.

The schematic diagram of Fig. 4 has illustrated another operation mode, wherein in the second transporting rail 14, occurs that a plurality of forms are the interruption of

irregular gap

42,48 and 50.Allowing with dynamically control is present flexibly of manipulator 20, according to one or more, article 16 are transported to the transporting rail 12 of

packet stations

18 or 14 the situation of transporting is infinitely adjusted classification speed, and at this, integrally reduce transportation speed according to the demand of the actual loading and unloading capacity providing or possibility.

Stopping completely of the transporting rail 14 representing in Fig. 5; for example, due to its shutdown or lacking due to the article 16 that transport thereon; may not necessarily make the method enter quiescence; because can adjust like this control of manipulator 20; make it only from the region of the first transporting rail 12 of transportation unchangeably, capture the article 16 that move towards layer 22, and in essential mode, be distributed on the whole surface of packet stations 18.The method in this way can flexible adaptation in gapped, pause and/or the conveying of the transporting rail 14 that stops.Once there is

gap

42,48 and/or 50 at that, the adjustment by manipulator control is sorting articles 16 correspondingly, thereby in fact relevant with the top transporting rail 12 of operation unchangeably.This adjustment of manipulator control dynamically and realize like this, makes to maintain as far as possible insusceptibly top transporting rail 12 fastly, and particularly can be with constant transportation speed work.

Preferably, the method has been stipulated the variable transportation speed of transporting rail 12 and 14.Therefore especially, can when pausing or stop, transporting rail 14 the corresponding speed lifting of each track not relating to 12 guarantee that sufficiently high classification and layer form loading and unloading capacity.

Manipulator 20 can for example form so-called radial type robot, as it exemplarily represents in Fig. 5.As manipulator 20, according to considering in principle all conceivable and processing equipment that can be available in practice in all flexible programs of present device, for example door humanoid robot, radial type robot or other have the robot that multiaxis is controlled.

In order only to express better visibility and in order easily to implement the method according to this invention in Fig. 5, meaningfully, be provided for identifying the Occupation efficiency of two transporting

rails

12 and 14 and/or the sensor that the article in packet stations 18 distribute, thereby can control more efficiently manipulator 20.This sensor can comprise grating, image collecting device and apparatus for evaluating, for example photographic camera or analogue especially.In addition alternatively, the sensor device of machinery and/or inductance operation can be used, thereby the actual Occupation efficiency of transporting

rail

12 and 14 can be measured at any time and assess.Have a mind to free burial ground for the destitute, each existing transporting

rail

12 and 14 is at least furnished with one for identifying the sensing unit 52 of its Occupation efficiency, different Occupation efficiency and/or the functional status of its signal 56 by means of control unit 54 assessments for controlling manipulator 20 and dynamically adapting to transporting

rail

12 and 14 for moving it control.

Another particularly advantageous flexible program of this layer of formation method has been realized, and the layout layer with different classes of article 16 combines changeably in the mode of expectation respectively.The different goods categories of therefore being transported by transporting

rail

12 or 14 can be merged into

independent layer

22 or 28 with combinations different and/or that dynamically change separately completely, and interference-free or without obstruction in the region of transporting rail 12 or 14.This can easily realize manipulator control.Such difference classification can classify to form by different beverages in having the multi-pack example of drinking container, and it can be combined into so-called mixing pallet by means of the method according to this invention, as long as it is expected.Blending ratio also can for good and all change and/or be adapted to each other the demand of the continuous variation of the pallet of combination continuously.

The schematic diagram of Fig. 6 illustrates another flexible program in the transmission section 10 that is used to form the layer consisting of article 16, and these article are transported to packet stations 18 from packing station 60 two parallel transporting rails 12 and 14.In this case, two parallel transmission tracks 12 and 14 are at least in part through being arranged on the packing station 60 in packet stations 18 the place aheads, article 16 add up to 4 with a plurality of packing head 62(respectively in this case at that) by forming the bale packing of multi-pack, combine, thereby in other transmission path of carriage direction 32, no longer carry and article 16(that palletization is independent referring to Fig. 1 to 5), but conveying and palletization comprise respectively the multi-pack 17 of a plurality of article 16, these article are tightened by means of strap.

Multi-pack 17 is transported to packet stations 18 by means of parallel joining rails 12a and 14a from packing station 60, and other structures with respect to palletization station 10 from that no longer produce special feature corresponding to the flexible program of having described.Joining rails 12a and 14a can have suitable length, and this length is favourable and essential for structure and the structure of independent machine part.Obstruction section between packing station 60 and packet stations 18 is optional, because when stand 60 or be arranged on the serious integral body that can maintain palletization station 10 when disturbed in the facility part in the place ahead and transport and process in packing.Therefore no longer need to stop up especially section, because there is not constricted channel or analogue in 10 the place aheads, palletization station, first this constricted channel or analogue must empty in machine down or when disturbed.Therefore packing station 60 can be in an advantageous manner directly with 10 interlockings of palletization station, if desired also can be with very short or joining rails 12a and the 14a of shortization interlock in its length.

In Fig. 6, graphic flexible program of the present invention also can be realized, and as illustrated in the example of individual articles 16 according to Fig. 2 to 5, maintains the loading and unloading capacity in sufficiently high transmission section 11 when guiding multi-pack brokenly in palletization station 10.While guiding brokenly multi-pack or at least one transporting

rail

12 or 14 partially or completely to interrupt equally, in packing 60 inside, station or outside, maintain described palletization and sufficiently high processing loading and unloading capacity and throughput of transmissions on one in a plurality of transporting rails 12,14.Therefore in the flexible program embodiment shown in Fig. 6, in dynamically adjusting, pack and be positioned at the packing station 60 of palletization upstream equally, thereby when in head 62 one of packing is disturbed and/or packs while stopping in track 12 and/or 14 one of head 62 or a plurality of packing head 62, the palletization of the multi-pack 17 that can remain in operation with the processing speed reducing.

With reference to preferred form of implementation, the present invention is described.But for professional and technical personnel, can imagine, can the present invention be modified or be changed, and can not depart from the protection domain of following claim.

Reference numerals list:

10 palletization stations

11 transmission sections

12 first transporting rails

12a the first joining rails

13 top supply stations, the first supply station

14 second transporting rails

14a the second joining rails

15 underfeed stations, the second supply station

16 article

17 multi-pack, the multi-pack of packing

18 packet stations

19 layers form space

20 manipulators

21 releasing positions

22 unconsolidated formations

24 horizontal conveyance device

26 layers form platform

28 closed layer

29 stop assemblies, block plate

30 thrust units

31 pay-offs, folding delivery sheet

32 carriage directions

34 transport and/or transmitting device

36 pallets

38 palletization layers

40 plane of motions

42 first gaps

44 palletization devices

46 louver heads

48 second gaps

50 third spaces

52 sensing units

54 control units

56 signals

60 packing stations

62 packing heads

S3 has the mobile route of the article of numeral 3

S5 has the mobile route of the article of numeral 5

S6 has the mobile route of the article of numeral 6

S7 has the mobile route of the article of numeral 7

S8 has the mobile route of the article of numeral 8

S9 has the mobile route of the article of numeral 9

Claims

1. a method, be used for forming at layer that space (19) is upper relies at least one by programme controlled manipulator (20), to form the article (16) by side by side, packing goods, what multi-pack (17) or analogue formed can Palletized layer (22, 28), this manipulator is used at least two spaces away from each other and/or the supply station (13 being offset on space, 15) on, pick up and/or transport single or multiple article (16), packing goods or multi-pack (17), and be used for by layer, form on space (19) can be given in advance releasing position (21) in rotate and/or mobile article (16), packing goods or multi-pack (17) position, wherein basis is at least two supply stations (13, 15) article on (16), the current stock situation of packing goods or multi-pack (17), at least one manipulator (20) optionally and there is no permanent order at supply station (13, 15) on, pick up article (16), packing goods or multi-pack (17), and by flexible adaptation transporting rail separately, they are transported to releasing position (21).

2. method according to claim 1, wherein the stock frequency of the article (16) on supply station (13,15), packing goods or multi-pack (17) and/or classification and/or the speed of transmission of at least one manipulator (20) are variable.

3. method according to claim 1 and 2, wherein basis is at supply station (13,15) quantity differing from one another in the quantity of article (16), packing goods or the multi-pack (17) of preparing separately on is selected transmission sequence, the classified order and/or sequentially mobile of article (16), packing goods or the multi-pack (17) of and/or rotation mobile by least one manipulator (20) from some perhaps how possible Move Modes.

4. according to the method in any one of claims 1 to 3, wherein by packet stations (18), come constituting layer to form space (19).

5. according to the method described in any one in claim 1 to 4, wherein by means of the manipulator (20) of two or more continuous settings, realize article (16), packing goods or multi-pack (17) and form movement and/or the rotation in space (19) or packet stations (18) at layer.

6. according to the method described in any one in claim 1 to 5, wherein transport and/or divide into groups and at layer, form space (19) or packet stations (18) rear forms the upper compacting of platform (26) and/or promotes together at layer to article (16), packing goods or the multi-pack (17) of layer (22), and then by means of receiving and/or palletization device (34,44) is stacked in independent layer (28,38) on pallet (36).

7. one kind is used for above forming in layer formation space (19) article (16) by side by side, what packing goods or multi-pack (17) or analogue formed can Palletized layer (22, 28) equipment, it has at least two spaces away from each other and/or the supply station (13 being offset on space, 15), it has at least one by programme controlled manipulator (20), be used for picking up and/or transport supply station (13, 15) single or multiple article (16), packing goods or multi-pack (17) and be used for by forming in the releasing position given in advance (21) on space (19) and rotate and/or mobile article (16) at layer, packing goods or multi-pack (17) are located, wherein the programming controller of manipulator (20) can be according at least two supply stations (13, 15) article on (16), the current stock situation of packing goods or multi-pack (17) is come optionally and be there is no permanent order and control it to move.

8. equipment according to claim 7, at least two supply stations (13 wherein, 15) can be furnished with respectively the article (16) that transport for identifying, the sensor device (52) of the Occupation efficiency of packing goods or multi-pack (17), itself and control setup (54) are coupled, it is temporary transient constant or along with the time is variable or the quantity of fluctuation that this control setup is used for making the control of at least one manipulator (20) to be dynamically adapted to, particularly be adapted at least two supply stations (13, 15) the upper article (16) of preparing, the quantity differing from one another of packing goods or multi-pack (17).

9. equipment according to claim 8, at least one manipulator (20) of its formation space, middle level (19) or packet stations (18) is furnished with programming controller, and this programming controller is for selecting the suitable or optimum Move Mode for rotation and/or mobile article (16), packing goods or multi-pack (17) according to the quantity differing from one another of article (16), packing goods or the multi-pack (17) prepared or frequency from a plurality of available Move Modes.

10. equipment according to claim 9, wherein at layer formation space (19) or packet stations (18) rear with at least one manipulator (20), be provided with transport part section, this transport part section is carried out palletization and/or is stacked up for the layer with article (16), packing goods or multi-pack (17) that makes previously to have formed.

11. according to the equipment described in any one in claim 7 to 10, and wherein at least one manipulator (20) forms by door humanoid robot and/or by radial type robot or analogue.

12. according to the equipment described in any one in claim 7 to 11, wherein in layer formation space (19) or packet stations (18) the place ahead, be provided with the packing station (60) that at least one has one or more packing heads (62), it directly forms space (19) or packet stations (18) interlocking or by two or more joining rails (12a, 14a) and layer, forms space (19) or packet stations (18) coupling with it with layer, and this joining rails is the multi-pack (17) by means of packing station (60) packing for transmission.

13. equipment according to claim 12, the programming controller of at least one manipulator (20) of its formation space, middle level (19) or packet stations (18) with for controlling and/or the control setup coupling of monitoring packing head (62), be used for adapting to and/or selecting the Move Mode for rotation and/or mobile article (16), packing goods or multi-pack (17).